An iterative method for attitude determination based on misaligned GNSS baselines

PROJECT TITLE :

An iterative method for attitude determination based on misaligned GNSS baselines

ABSTRACT:

Multiple International Navigation Satellite System (GNSS) antennae systems have been among the well-known approaches to angle determination of moving platforms in recent times. But, the constraints on the onboard GNSS antennae configuration, that is, putting in the antennae baselines along the most axes of the platform, will result in sensible difficulties and inevitable uncertainty. During this contribution we have a tendency to gift an iterative methodology to obtain the correct attitudes by means that of the onboard misaligned baselines. In order to get rid of the consequences of the horizontal and vertical misalignments from GNSS observations of the baselines, angle-induced corrections have been developed through the relative lever-arm coordinates of the onboard antennae. This approach provides us with a lot of freedom from spatial distribution of the onboard antennae. The performance of the proposed technique has been analyzed by simulated knowledge and an actual experiment in low- and high-dynamic situations. The simulation has been designed to evaluate the aptitude and reliability of the iterative method underneath the presence of small and giant misalignments. The field experiment was allotted within the offshore waters of Kish harbor using three twin-frequency GNSS receivers with choke-ring antennae onboard a survey vessel, that was also equipped with an inertial measurement unit (IMU). The maximum allowable misalignments, the convergence of the iteration, and also the advantage of the proposed method over the trigonometric approach despite applying the ancient calibration are presented. The long-term stability of GNSS perspective determination furthermore IMU accuracy degradation, due largely to the increase within the time-varying biases/noises, have demonstrated the potential of the strategy to estimate the accuracies and biases of the onboard inertial sensor. The overall results affirm that the presented methodology can effectively give the platform attitudes using the misaligned GNSS baselines with as a lot of flex- bility as attainable for the onboard antennae configuration.

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